张忠林, 孟庆鑫, 王华. 基于转向机构的“穿地龙”机器人运动学研究[J]. 机器人, 2005, 27(6): 550-554..
ZHANG Zhong-lin, MENG Qing-xin, WANG Hua. Research on Kinematics of "Dragon of Puncturing Mud" Robot Based on Turning Device. ROBOT, 2005, 27(6): 550-554..
Abstract：This paper presents the characteristics of the world representative air-powered impacting mole of which the direction is controllable.According to the turning principle of "Dragon of Puncturing Mud" robot,we put forward a design scheme on the turning device of "Dragon of Puncturing Mud" robot.Swaying principle of the robot head is described,and the motion track equation of "Dragon of Puncturing Mud" robot is established and analyzed by kinematics simulation.The theoretical foundation is provided for dynamics analysis and pose measurement of "Dragon of Puncturing Mud" robot.
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